Assuming the body to be rigid and have multiple accelerometer triads
geometrically dispersed on it, the specific force observed by
individual accelerometer triads will differ when the rigid body
undergoes a rotational
motion [1]}. The specific force at a point not located in
the origin of the body frame, will have extra acceleration terms
due to the centrifugal and Euler accelerations. These extra
acceleration terms contain information about the rotation that can
extend (REF ). Assuming that an
accelerometer triad is located
at \(r_k^b\) , the specific force at \(r_k^b\)  can then be related to the specific
force at the origin of the body frame \(s^b\) 
via [2]}
\(f_k^b = s^b + \underbrace{[\omega ^b \times ]^2r_k^b}_{\begin{array}{c}\text{Centrifugal}\\\text{acceleration}\end{array}} +\underbrace{[\dot{\omega }^b \times ]r_k^b}_{\begin{array}{c}\text{Euler}\\\text{acceleration}\end{array}}.\) 
